Relation between HAL pins and EtherCAT Slave Information(ESI) .xml file?

More
30 Nov 2016 21:43 - 30 Nov 2016 21:45 #83509 by jerryCNC
I am trying to write EtherCAT HAL driver for Beckhoff servo drive AX5000:
* I studied the template of Sittner's driver for DELTA Electronics ASDA series:
--- github.com/sittner/linuxcnc-ethercat/blo...er/src/lcec_deasda.h
* And I studied the EtherCAT Slave Informaion(ESI) file for DELTA Electronics ASDA series:
--- see attached .xml file.

I am wondering how Sittner figured out those HAL pins, which are not found in the ESI(.xml) file?
Thanks!

File Attachment:

File Name: ASDA2-Erev3.35.xml
File Size:178 KB

File Attachment:

File Name: lcec_deasda.h
File Size:4 KB

File Attachment:

File Name: lcec_deasda.c
File Size:26 KB
Attachments:
Last edit: 30 Nov 2016 21:45 by jerryCNC.

Please Log in or Create an account to join the conversation.

More
08 Jan 2017 17:38 #85481 by chimeno
Hello, I just pulled out an AX5203 driver and I would like to connect to linuxcnc, have you been able to make them work?

Thank you

Please Log in or Create an account to join the conversation.

More
10 Jan 2017 17:48 #85575 by jerryCNC
Hi, I figured out the HAL logic for linuxcnc.

However, the main problem for AX5000 is not from linuxcnc, but from IgH-EtherCAT-master:
* I am stuck at using IgH-EtherCAT-master to control AX5000.
* You can forget about linuxcnc before solving this problem.

By the way, which hardware are you using as EtherCAT master?
The following user(s) said Thank You: chimeno

Please Log in or Create an account to join the conversation.

More
10 Jan 2017 20:53 #85590 by chimeno
Hi, thanks for the answer, to your question you are referring to what hardware I am using?

Please Log in or Create an account to join the conversation.

More
10 Jan 2017 23:00 #85595 by jerryCNC
Yes, what real-time OS is running in what hardware?

As you study more, you will find that distributed-clock is a big issue for controlling AX5000 with IgH EtherCAT master.

Please Log in or Create an account to join the conversation.

More
11 Jan 2017 20:33 #85624 by chimeno
Hi I am currently using linuxcnc 2.7.8 with mesanet 5I20.
I have two servosystems in AX5203 and AX5206, if we can connect them to linuxcnc

Thank you

Please Log in or Create an account to join the conversation.

More
13 Jan 2017 22:20 - 13 Jan 2017 22:20 #85715 by sirop
<CoE SdoInfo="true" PdoAssign="true" PdoConfig="true">

This usually means that you can change the preconfigured set of PDO (entries) with
ethercat sdo commands .
Last edit: 13 Jan 2017 22:20 by sirop. Reason: typo

Please Log in or Create an account to join the conversation.

Time to create page: 0.097 seconds
Powered by Kunena Forum